{"id":"https://openalex.org/W3217025191","doi":"https://doi.org/10.3390/s21227770","title":"Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range","display_name":"Metrological Characterization and Comparison of D415, D455, L515 RealSense Devices in the Close Range","publication_year":2021,"publication_date":"2021-11-22","ids":{"openalex":"https://openalex.org/W3217025191","doi":"https://doi.org/10.3390/s21227770","mag":"3217025191","pmid":"https://pubmed.ncbi.nlm.nih.gov/34833847"},"language":"en","primary_location":{"id":"doi:10.3390/s21227770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227770","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7770/pdf?version=1637670256","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/22/7770/pdf?version=1637670256","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011088030","display_name":"Michaela Servi","orcid":"https://orcid.org/0000-0002-4071-6615"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michaela Servi","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049643769","display_name":"Elisa Mussi","orcid":"https://orcid.org/0000-0002-5170-3246"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elisa Mussi","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5170-3246","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023992941","display_name":"Andrea Profili","orcid":"https://orcid.org/0000-0002-1727-1013"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Profili","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068337542","display_name":"Rocco Furferi","orcid":"https://orcid.org/0000-0001-6771-5981"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rocco Furferi","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6771-5981","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089598364","display_name":"Yary Volpe","orcid":"https://orcid.org/0000-0002-5668-1912"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yary Volpe","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5668-1912","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070471686","display_name":"Lapo Governi","orcid":"https://orcid.org/0000-0002-7417-3487"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lapo Governi","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7417-3487","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082673049","display_name":"Francesco Buonamici","orcid":"https://orcid.org/0000-0001-5186-9724"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco Buonamici","raw_affiliation_strings":["Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Florence, Via Santa Marta 3, 50139 Florence, Italy","institution_ids":["https://openalex.org/I45084792"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5082673049"],"corresponding_institution_ids":["https://openalex.org/I45084792"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.4932,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94143447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"21","issue":"22","first_page":"7770","last_page":"7770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/metrology","display_name":"Metrology","score":0.8139070868492126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6230199337005615},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5984503626823425},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5174884796142578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4563068449497223},{"id":"https://openalex.org/keywords/characterization","display_name":"Characterization (materials science)","score":0.4304884374141693},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42532339692115784},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40291351079940796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24427533149719238},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1038719117641449},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07774922251701355}],"concepts":[{"id":"https://openalex.org/C195766429","wikidata":"https://www.wikidata.org/wiki/Q394","display_name":"Metrology","level":2,"score":0.8139070868492126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6230199337005615},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5984503626823425},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5174884796142578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4563068449497223},{"id":"https://openalex.org/C2780841128","wikidata":"https://www.wikidata.org/wiki/Q5073781","display_name":"Characterization (materials science)","level":2,"score":0.4304884374141693},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42532339692115784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40291351079940796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24427533149719238},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1038719117641449},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07774922251701355},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s21227770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227770","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7770/pdf?version=1637670256","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34833847","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34833847","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:flore.unifi.it:2158/1248954","is_oa":true,"landing_page_url":"https://hdl.handle.net/2158/1248954","pdf_url":"https://flore.unifi.it/bitstream/2158/1248954/2/sensors-21-07770-v2.pdf","source":{"id":"https://openalex.org/S4306402033","display_name":"Florence Research (University of Florence)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45084792","host_organization_name":"University of Florence","host_organization_lineage":["https://openalex.org/I45084792"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:488aa9740f2542929aa5d35ade5754c3","is_oa":true,"landing_page_url":"https://doaj.org/article/488aa9740f2542929aa5d35ade5754c3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 22, p 7770 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/22/7770/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21227770","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 22; Pages: 7770","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8622561","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8622561","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21227770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21227770","pdf_url":"https://www.mdpi.com/1424-8220/21/22/7770/pdf?version=1637670256","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3217025191.pdf","grobid_xml":"https://content.openalex.org/works/W3217025191.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W815103458","https://openalex.org/W1984475609","https://openalex.org/W1994684178","https://openalex.org/W2033979122","https://openalex.org/W2134963142","https://openalex.org/W2164956021","https://openalex.org/W2412454633","https://openalex.org/W2614697349","https://openalex.org/W2791090841","https://openalex.org/W2791335147","https://openalex.org/W2794997799","https://openalex.org/W2800764633","https://openalex.org/W2811302524","https://openalex.org/W2884316168","https://openalex.org/W2885190481","https://openalex.org/W2890010392","https://openalex.org/W2902127656","https://openalex.org/W2906430385","https://openalex.org/W2974067445","https://openalex.org/W2976418864","https://openalex.org/W3011114987","https://openalex.org/W3048025158","https://openalex.org/W3111976534","https://openalex.org/W3133048288","https://openalex.org/W3162897948","https://openalex.org/W3168431056","https://openalex.org/W6796131673"],"related_works":["https://openalex.org/W1998546186","https://openalex.org/W3107994849","https://openalex.org/W2061967405","https://openalex.org/W2923974939","https://openalex.org/W2110528520","https://openalex.org/W2174860717","https://openalex.org/W2392646414","https://openalex.org/W2590542424","https://openalex.org/W2755767658","https://openalex.org/W2021243286"],"abstract_inverted_index":{"RGB-D":[0,33,94],"cameras":[1,95],"are":[2,117],"employed":[3],"in":[4,103],"several":[5],"research":[6],"fields":[7],"and":[8,43,90,157],"application":[9],"scenarios.":[10],"Choosing":[11],"the":[12,22,30,60,82,88,104,143,146,155,174,187,197],"most":[13,61],"appropriate":[14],"sensor":[15,50],"has":[16],"been":[17],"made":[18],"more":[19],"difficult":[20],"by":[21,97],"increasing":[23],"offer":[24],"of":[25,32,39,46,49,68,84,92,127,132,145,159],"available":[26],"products.":[27],"Due":[28],"to":[29,41,122,173,196],"novelty":[31],"technologies,":[34],"there":[35],"was":[36],"a":[37,52],"lack":[38],"tools":[40],"measure":[42],"compare":[44],"performances":[45],"this":[47],"type":[48],"from":[51],"metrological":[53,66,115],"perspective.":[54],"The":[55,134,162,177],"recent":[56],"ISO":[57,85,109],"10360-13:2021":[58],"represents":[59],"advanced":[62],"international":[63],"standard":[64],"regulating":[65],"characterization":[67,89],"coordinate":[69],"measuring":[70],"systems.":[71],"Part":[72],"13,":[73],"specifically,":[74],"considers":[75,142],"3D":[76,130],"optical":[77],"sensors.":[78],"This":[79],"paper":[80,136],"applies":[81],"methodology":[83],"10360-13":[86,110],"for":[87],"comparison":[91,140],"three":[93],"produced":[96],"Intel\u00ae":[98],"RealSense\u2122":[99],"(D415,":[100],"D455,":[101],"L515)":[102],"close":[105],"range":[106],"(100\u20131500":[107],"mm).":[108],"procedures,":[111],"which":[112,141],"focus":[113],"on":[114,169,182,193],"performances,":[116],"integrated":[118],"with":[119],"additional":[120],"tests":[121,170,194],"evaluate":[123],"systematic":[124,183],"errors":[125],"(acquisition":[126],"flat":[128],"objects,":[129],"reconstruction":[131,167],"objects).":[133],"present":[135],"proposes":[137],"an":[138],"off-the-shelf":[139],"performance":[144],"sensors":[147],"throughout":[148],"their":[149],"acquisition":[150],"volume.":[151],"Results":[152],"have":[153],"exposed":[154],"strengths":[156],"weaknesses":[158],"each":[160],"device.":[161],"D415":[163],"device":[164,179,189],"showed":[165],"better":[166,181,191],"quality":[168],"strictly":[171],"related":[172,195],"short":[175],"range.":[176],"L515":[178],"performed":[180],"depth":[184],"errors;":[185],"finally,":[186],"D455":[188],"achieved":[190],"results":[192],"standard.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}